cmake_minimum_required(VERSION 3.8)
project(gripper_mqtt_bridge)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(ament_index_cpp REQUIRED)

find_package(PkgConfig REQUIRED)
pkg_check_modules(MOSQUITTO REQUIRED libmosquitto)
pkg_check_modules(JSONCPP REQUIRED jsoncpp)

# 包含目录
include_directories(
  include
  ${MOSQUITTO_INCLUDE_DIRS}
  ${JSONCPP_INCLUDE_DIRS}
)


add_executable(gripper_mqtt_bridge 
src/gripper_mqtt_bridge.cpp
)

ament_target_dependencies(
  gripper_mqtt_bridge
  rclcpp
  std_msgs
  ament_index_cpp
)

# 链接库
target_link_libraries(gripper_mqtt_bridge
  ${MOSQUITTO_LIBRARIES}
  ${JSONCPP_LIBRARIES}
)

install(TARGETS gripper_mqtt_bridge
  DESTINATION lib/${PROJECT_NAME})
# 安装launch文件
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}/
)
# 安装配置文件
install(DIRECTORY
  config
  DESTINATION share/${PROJECT_NAME}/
)


# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
